Mechanical leg and robot thereof

Abstract

According to the mechanical leg and the robot thereof, the mechanical leg comprises a first leg mechanism, a second leg mechanism and nth leg mechanisms, and when the leg length of the mechanical leg is the longest, the first leg mechanism to the nth leg mechanism are arranged from top to bottom; the first leg mechanism is used for being rotationally connected with a robot body of the robot. The second leg mechanism is used for being in sliding connection with the first leg mechanism; and so on, the nth leg mechanism is in sliding connection with the (n-1) th leg mechanism, 2; the foot assembly is connected to the lower end of the nth leg mechanism and rotationally connected with the nth leg mechanism; the first driving mechanism comprises a first motor, a second motor, a transmission wheel assembly and a flexible transmission piece, and the first motor and the second motor are used for jointly working and cooperatively driving the transmission wheel assembly to drive the foot assembly to rotate relative to the nth leg mechanism and driving the nth leg mechanism to linearly move in the vertical direction relative to the (n-1) th leg mechanism; the vertical direction is the extending direction of the first leg mechanism.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent devices, and in particular to a mechanical leg and a robot thereof. Background Art

[0002] With the advancement of science and technology, the application of robots is becoming more and more common. In order to adjust the height of the robot body, the legs of the robot are usually retractable, but the retractable travel of the legs of existing robots is relatively short. Summary of the invention

[0003] In view of this, the present application proposes a mechanical leg and a robot thereof.

[0004] In a first aspect, a mechanical leg comprises a first leg mechanism, a second leg mechanism and an nth leg mechanism.

[0005] When the leg length of the robot leg is at its longest, the first leg mechanism to the nth leg mechanism are arranged from top to bottom; the first leg mechanism is used for rotational connection with the body of the robot; the second leg mechanism is used for sliding connection with the first leg mechanism;

[0006] By analogy, the nth leg mechanism is slidingly connected to the n-1th leg mechanism, where n>2; a foot assembly is connected to the lower end of the nth leg mechanism and is rotationally connected to the nth leg mechanism; a first driving mechanism includes a first motor, a second motor, a transmission wheel assembly and a flexible transmission member, the first motor and the second motor are connected to the first leg, the transmission wheel assembly is connected to the first motor output shaft and the second motor output shaft and is connected to the foot assembly, the first leg mechanism to the nth leg mechanism, the flexible transmission member is transmission-connected to the transmission wheel assembly, the first motor and the second motor are used to work together to drive the transmission wheel assembly to drive the foot assembly to rotate relative to the nth leg mechanism and drive the second leg mechanism to move linearly in the up and down directions relative to the first leg mechanism, and by analogy, the first driving mechanism is also used to drive the nth leg mechanism to move linearly in the up and down directions relative to the n-1th leg mechanism, and the up and down directions are the extension directions of the first leg mechanism.

[0007] In a second aspect, the present application provides a robot, comprising a body and a mechanical leg as provided in any embodiment of the present application, wherein the mechanical leg is rotatably connected to the body.

[0008] The present application provides a mechanical leg and a robot, wherein the mechanical leg is provided with a multi-section leg, so that the elongation of the mechanical leg can be increased. At the same time, by providing the power source of the first driving mechanism at the upper end of the leg, it is beneficial to increase the center of gravity of the mechanical leg, reduce the rotational inertia of the mechanical leg when rotating relative to the body, and thus help control the energy consumption of the robot and improve the response speed of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained like these drawings without paying any creative work.

[0010] Figure 1 This is a schematic diagram of the structure of the robot proposed in the embodiment of the present application.

[0011] Figure 2 This is a schematic diagram of the structure of the robot from another perspective proposed in an embodiment of the present application.

[0012] Figure 3 A schematic structural diagram of a mechanical leg proposed in an embodiment of the present application having only two legs.

[0013] Figure 4 An exploded schematic diagram of a mechanical leg having only two sections proposed in an embodiment of the present application.

[0014] Figure 5 An exploded schematic diagram of a mechanical leg having only two sections proposed in an embodiment of the present application.

[0015] Figure 6 This is a schematic diagram of the structure of some components of the multi-section leg of the mechanical leg proposed in an embodiment of the present application when it is shortened.

[0016] Figure 7 This is a schematic diagram of the structure of some components of the multi-section leg of the mechanical leg proposed in an embodiment of the present application when extended.

[0017] Description of reference numerals:

[0018] 100. Mechanical leg; 10. The nth leg mechanism; 20. The n-1th leg mechanism; 30. The n-2th leg mechanism; 40. The foot assembly; 50. The first driving mechanism; 51. The first motor; 52. The second motor; 53. The transmission wheel assembly; 533. The first transmission wheel; 534. The second transmission wheel; 535. The third transmission wheel; 536. The first driven wheel; 537. The fourth transmission wheel; 538. The fifth transmission wheel; 54. The flexible transmission member; 60. The fuselage. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0020] It should be understood that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0021] It should also be understood that when an element is referred to as being "fixed" or "disposed on" another element, it can be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or it can be indirectly connected to the other element through an intermediate element.

[0022] The terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. For example, the descriptions of "first", "second", etc. in this application are only for descriptive purposes and cannot be understood as indicating or implying

[0023] Its relative importance or implicitly indicates the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0024] Figures 1 to 5 This is a schematic diagram of the structure of the two sections of the mechanical leg.

[0025] Figure 6 and Figure 7 It is a schematic diagram of the structure of a multi-segmented mechanical leg.

[0026] like Figures 1 to 7As shown, the present embodiment provides a mechanical leg 100, the mechanical leg 100 comprises a first leg mechanism, a second leg mechanism and to the nth leg mechanism 10, when the leg length of the mechanical leg 100 is at its longest, the first leg mechanism to the nth leg mechanism 10 are arranged from top to bottom; the first leg mechanism is used for rotational connection with the body 60 of the robot; the second leg mechanism is used for sliding connection with the first leg mechanism; and so on, the nth leg mechanism 10 is slidingly connected with the n-1 leg mechanism, wherein n>2; a foot assembly 40, connected to the lower end of the nth leg mechanism 10 and rotationally connected with the nth leg mechanism 10; a first driving mechanism 50, comprising a first motor 51, a second motor 52, a transmission wheel assembly 53 and a flexible transmission member 54, the first motor The motor 51 and the second motor 52 are connected to the first leg, the transmission wheel assembly 53 is connected to the output shaft of the first motor 51 and the output shaft of the second motor 52 and is connected to the foot assembly 40 and the first leg mechanism to the nth leg mechanism 10, the flexible transmission member 54 is transmission-connected to the transmission wheel assembly 53, the first motor 51 and the second motor 52 are used to work together to drive the transmission wheel assembly 53 to drive the foot assembly 40 to rotate relative to the nth leg mechanism 10 and drive the second leg mechanism to move linearly in the up and down directions relative to the first leg mechanism, and so on, the first driving mechanism 50 is also used to drive the nth leg mechanism 10 to move linearly in the up and down directions relative to the n-1th leg mechanism 20, and the up and down directions are the extension directions of the first leg mechanism.

[0027] By providing a multi-section leg, the extension of the robot leg 100 can be increased. At the same time, by providing the power source of the first driving mechanism 50 at the upper end of the leg, the center of gravity of the robot leg 100 is increased, and the moment of inertia of the robot leg 100 when rotating relative to the body 60 is reduced, which is beneficial to controlling the energy consumption of the robot and improving the response speed of the robot.

[0028] In some embodiments, the foot assembly 40 is a wheel assembly, which includes a wheel and a wheel axle. The wheel axle is fixedly connected to the wheel, and the wheel axle is rotationally connected to the leg mechanism through a bearing to rotationally connect the wheel and the leg mechanism.

[0029] In this embodiment, the rotation of the foot component 40 and the extension and retraction of the legs can be achieved by providing a flexible transmission member, and the structure is simple and compact, and the control error is small.

[0030] Specifically, for example, with respect to multiple flexible transmission parts, the aging degree of each flexible transmission part is different, and each flexible transmission part is connected to the motor transmission. Since the aging degree of each flexible transmission part is different, when the motor has the same speed, the rotation speed of each flexible transmission part is different. Due to these errors, the control of the robot becomes complicated and the response speed of the robot is affected.

[0031] The first motor 51 and the second motor 52 work together to drive the rotation of the foot assembly 40 and / or the extension and retraction of the leg mechanism, so that the first motor 51 and the second motor 52 are connected in parallel, which can reduce the parameters required for the motor drive, reduce errors, increase the operating speed of the robot, and reduce the cost of use.

[0032] In some embodiments, the first motor 51 and the second motor 52 are connected to the upper end of the first leg mechanism. By arranging the first motor 51 and the second motor 52 at the upper end of the leg, it is helpful to improve the center of gravity of the mechanical leg 100 and reduce the rotational inertia of the mechanical leg 100 when rotating relative to the body 60, which is helpful to control the energy consumption of the robot and improve the response speed of the robot.

[0033] In some embodiments, the robotic leg 100 has a first motion state, a second motion state and a third motion state, and the robotic leg 100 can switch freely among the first motion state, the second motion state and the third motion state; in the first motion state, the first driving mechanism 50 is used to drive the foot assembly 40 to rotate, the second leg mechanism is stationary relative to the first leg mechanism, and so on, the nth leg mechanism 10 is stationary relative to the n-1th leg mechanism 20; in the second motion state, the first driving mechanism 50 is used to drive the second leg mechanism to move linearly in the up and down directions relative to the first leg mechanism, and so on, the first driving mechanism 50 is also used to drive the nth leg mechanism 10 to move linearly in the up and down directions relative to the n-1th leg mechanism 20, and the foot assembly 40 does not rotate; in the third motion state, the first driving mechanism 50 is used to drive the foot assembly 40 to rotate while driving the second leg mechanism to move linearly in the up and down directions relative to the first leg mechanism, and so on, the first driving mechanism 50 is also used for the nth leg mechanism 10 to move linearly in the up and down directions relative to the n-1th leg mechanism 20.

[0034] The robot has multiple motion states, so that the robot's gait can be diversified, making the robot more flexible and able to adapt to different environments.

[0035] In some embodiments, when the first motor 51 and the second motor 52 rotate in the same direction and the output torques of the first motor 51 and the second motor 52 are the same, the foot assembly 40 rotates, and the second leg mechanism remains stationary relative to the first leg mechanism, and by analogy, the nth leg mechanism 10 remains stationary relative to the n-1th leg mechanism; when the first motor 51 and the second motor 52 rotate in opposite directions and the output torques of the first motor 51 and the second motor 52 are the same, the foot assembly 40 does not rotate, and the second leg mechanism moves linearly in the up-down direction relative to the first leg mechanism, and by analogy, the nth leg mechanism 10 moves linearly in the up-down direction relative to the n-1th leg mechanism 20; when the first motor 51 and the second motor 52 rotate in the same or opposite directions but the output torques of the first motor 51 and the second motor 52 are different, the foot assembly 40 rotates while the second leg mechanism moves linearly in the up-down direction relative to the first leg mechanism, and by analogy, the nth leg mechanism 10 moves linearly in the up-down direction relative to the n-1th leg mechanism 20.

[0036] In this embodiment, the first motor and the second motor are spaced apart in the front-to-rear direction and the output shafts of the first motor and the second motor are oriented in the same direction.

[0037] like Figure 6 to Figure 7As shown, in some embodiments, the transmission wheel assembly 53 includes a first driving wheel, a second driving wheel, at least one first transmission wheel 533, at least one second transmission wheel 534, at least one third transmission wheel 535, at least one fourth transmission wheel 537, at least one fifth transmission wheel 538, and a first driven wheel 536. The first driving wheel and the second driving wheel are respectively connected to the output shafts of the first motor 51 and the second motor 52; the first driven wheel 536 is rotatably connected to the nth leg mechanism 10 and connected to the foot assembly 40, and the first driven wheel 536 can drive the foot assembly 40 to rotate when it rotates; the first transmission wheel 533 and the third transmission wheel 535 are rotatably arranged on the first leg mechanism to the n-1th leg mechanism 20; the fourth transmission wheel 537 and the fifth transmission wheel 538 are rotatably arranged on the second leg mechanism to the n-1th leg mechanism 20; the first leg The first transmission wheel 533 of the mechanism is arranged between the first driving wheel and the first driven wheel 536; the first transmission wheel 533 on the second leg mechanism is arranged between the fourth transmission wheel 537 on the second leg mechanism and the first driven wheel 536; and so on, the first transmission wheel 533 on the n-1th leg mechanism 20 is arranged between the fourth transmission wheel 537 on the n-1th leg mechanism 20 and the first driven wheel 536; the third transmission wheel 535 of the first leg mechanism is arranged between the second driving wheel and the first driven wheel 536; the third transmission wheel 535 on the second leg mechanism is arranged between the fourth transmission wheel 537 on the second leg mechanism and the first driven wheel 536; and so on, the third transmission wheel 535 on the n-1th leg mechanism is arranged between the fifth transmission wheel 538 on the n-1th leg mechanism 20 and the first driven wheel 536.

[0038] When the mechanical leg 100 is extended to its longest length, the highest point of the fourth transmission wheel 537 on the second leg mechanism is not lower than the lowest point of the first transmission wheel 533 on the first leg mechanism and / or the lowest point of the third transmission wheel 535 on the first leg mechanism; by analogy, the highest point of the fourth transmission wheel 537 on the n-1 leg mechanism 20 is not lower than the lowest point of the first transmission wheel 533 on the n-2 leg mechanism 30 and / or the lowest point of the third transmission wheel 535 on the n-2 leg mechanism 30; the fifth transmission wheel 538 and the fourth transmission wheel 537 on the second leg mechanism to the n-1 leg mechanism 20 are arranged The second transmission wheel 534 is rotatably arranged on the nth leg mechanism 10. When the mechanical leg 100 is extended to the longest length, the highest point of the second transmission wheel 534 is not lower than the lowest point of the first transmission wheel 533 of the n-1th leg mechanism 20 and / or the lowest point of the third transmission wheel 535 on the n-1th leg mechanism 20. The flexible transmission member 54 between the first driving wheel and the first driven wheel 536 is at least partially configured to be parallel to the up-down direction. The flexible transmission member 54 between the second driving wheel and the first driven wheel 536 is at least partially configured to be parallel to the up-down direction. The fourth transmission wheel 537 on the second leg mechanism is parallel to the first The flexible transmission member 54 between the first transmission wheel 533 on the leg mechanism is at least partially configured to be parallel to the up-down direction; by analogy, the flexible transmission member 54 between the fourth transmission wheel 537 on the n-1 leg mechanism 20 and the first transmission wheel 533 on the n-2 leg mechanism 30 is at least partially configured to be parallel to the up-down direction; the flexible transmission member 54 between the fifth transmission wheel 538 on the second leg mechanism and the third transmission wheel 535 on the first leg mechanism is at least partially configured to be parallel to the up-down direction; the flexible transmission member 54 between the second transmission wheel 534 on the n-1 leg mechanism 20 and the first transmission wheel 533 on the n-1 leg mechanism 20 is at least partially configured to be parallel to the up-down direction. The flexible transmission member 54 is at least partially configured to be parallel to the up and down direction; the flexible transmission member 54 between the second transmission wheel 534 on the nth leg mechanism 10 and the third transmission wheel 535 on the n-1th leg mechanism 20 is at least partially configured to be parallel to the up and down direction; the flexible transmission member 54 is transmission connected with the first driving wheel, the second driving wheel, the first transmission wheel 533 and the third transmission wheel 535 on the first leg mechanism to the n-1th leg mechanism 20, the fourth transmission wheel 537 and the fifth transmission wheel 538 on the second leg mechanism to the n-1th leg mechanism 20, the second transmission wheel 534 on the nth leg mechanism 10, and the first driven wheel 536.

[0039] The robot leg 100 has a front-to-back direction and a left-to-right direction, and the front-to-back direction, the left-to-right direction and the up-to-down direction are perpendicular to each other.

[0040] The first motor 51 and the second motor 52 are spaced apart in the front-to-back direction and the rotation axes of the first motor 51 and the second motor 52 are parallel to the left-to-right direction; the first driving wheel and the second driving wheel are spaced apart in the front-to-back direction and have the same height, and the first transmission wheel 533 and the third transmission wheel 535 are spaced apart in the front-to-back direction and have the same height.

[0041] Since the downward and upward moving distance of the nth leg mechanism 10 relative to the n-1th leg mechanism 20 is not only limited by the distance between the first transmission wheel 533 and the second transmission wheel 534, but also by the distance between the second transmission wheel 534 and the third transmission wheel 535, for example, when the extension of the nth leg mechanism 10 relative to the n-1th leg mechanism 20 is 0, the distance between the first transmission wheel 533 and the second transmission wheel 534 is E, and the distance between the second transmission wheel 534 and the third transmission wheel 535 is F, when E is less than F, the maximum movement distance of the nth leg mechanism 10 relative to the n-1th leg mechanism 20 is E, that is, the movement distance of the nth leg mechanism 10 is the smallest one between E and F.

[0042] By arranging the first driving wheel and the second driving wheel at intervals in the front-to-back direction and at the same height, the first transmission wheel 533 and the third transmission wheel 535 are arranged at intervals in the front-to-back direction and at the same height. In this way, the distances between E and F are consistent, making the structure compact, the robot's mechanical leg 100 is small, and the moving stroke of the nth leg mechanism 10 is maximized as much as possible within the limited structural space.

[0043] In some embodiments, the first driving wheel, the second driving wheel, the second transmission wheel 534, and the first driven wheel 536 are synchronous pulleys, the flexible transmission member 54 is a synchronous belt, and the flexible transmission member 54 is meshed and transmitted with the first driving wheel, the second driving wheel, the third transmission wheel 535, the first driven wheel 536, the fourth transmission wheel 537 and the fifth transmission wheel 538; the first transmission wheel 533 and the third transmission wheel 535 are non-toothed rotating wheels, and the non-toothed surface of the flexible transmission member 54 is wound and connected with the first transmission wheel 533 and the third transmission wheel 535.

[0044] Optionally, the flexible transmission member 54 can be a rope or other flexible transmission member, which can play a buffering role, reduce the impact of the impact force directly acting on the motor, and increase the durability and operational stability of the drive mechanism.

[0045] In some embodiments, the radius of the first driving wheel and the second driving wheel are consistent, and the radius of the first driving wheel and the second driving wheel is smaller than the radius of the first driven wheel 536. It is beneficial to increase the transmission ratio of the driving wheel and the transmission wheel, increase the torque of the first driven wheel 536, so that the mechanical leg 100 can adapt to rugged or muddy harsh environments, and improve the robot's obstacle crossing ability. On the second aspect, this embodiment provides a robot, including a fuselage 60 and the mechanical leg 100 of the first aspect mentioned above. Among them, the mechanical leg 100 in the embodiment of the present application can have the same structure as any of the mechanical legs 100 in the above embodiments, and can bring the same or similar beneficial effects. For details, please refer to the description in the above embodiments, which will not be repeated in this embodiment.

[0046] In addition, there may be one or more mechanical legs 100 disposed on the fuselage 60 , and those skilled in the art may configure the mechanical legs 100 accordingly according to actual needs.

[0047] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0048] Those skilled in the art may combine and associate different embodiments or examples and features of different embodiments or examples described in this specification without mutual contradiction.

[0049] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A mechanical leg, characterized in that: The mechanical leg comprises a first leg mechanism, a second leg mechanism and up to the nth leg mechanism, and when the leg length of the mechanical leg is at its longest, the first leg mechanism to the nth leg mechanism are arranged from top to bottom; The first leg mechanism is used to be rotatably connected to the body of the robot; The second leg mechanism is used for sliding connection with the first leg mechanism; By analogy, the nth leg mechanism is slidably connected to the n-1th leg mechanism, where n>2; a foot assembly connected to the lower end of the nth leg mechanism and rotatably connected to the nth leg mechanism; The first driving mechanism includes a first motor, a second motor, a transmission wheel assembly and a flexible transmission member, the first motor and the second motor are connected to the first leg, the transmission wheel assembly is connected to the first motor output shaft and the second motor output shaft and is connected to the foot assembly, the first leg mechanism to the nth leg mechanism, the flexible transmission member is in transmission connection with the transmission wheel assembly, the first motor and the second motor are used to work together to drive the transmission wheel assembly to drive the foot assembly to rotate relative to the nth leg mechanism and drive the second leg mechanism to move linearly in the up and down directions relative to the first leg mechanism, and so on, the first driving mechanism is also used to drive the nth leg mechanism to move linearly in the up and down directions relative to the n-1th leg mechanism, and the up and down directions are the extension directions of the first leg mechanism.

2. The mechanical leg according to claim 1, characterized in that: The first motor and the second motor are connected to the upper end of the first leg mechanism.

3. The mechanical leg according to claim 1, characterized in that: The mechanical leg has a first motion state, a second motion state and a third motion state, and the mechanical leg can freely switch between the first motion state, the second motion state and the third motion state; In the first motion state, the first driving mechanism is used to drive the foot assembly to rotate, the second leg mechanism is stationary relative to the first leg mechanism, and so on, the nth leg mechanism is stationary relative to the n-1th leg mechanism; In the second motion state, the first driving mechanism is used to drive the second leg mechanism to move linearly in the up-down direction relative to the first leg mechanism, and similarly, the first driving mechanism is also used to drive the nth leg mechanism to move linearly in the up-down direction relative to the n-1th leg mechanism, and the foot assembly does not rotate; In the third motion state, the first driving mechanism is used to drive the foot assembly to rotate while driving the second leg mechanism to move linearly in the up and down direction relative to the first leg mechanism, and so on. The first driving mechanism is also used to drive the nth leg mechanism to move linearly in the up and down direction relative to the n-1th leg mechanism.

4. The mechanical leg according to claim 1, characterized in that: When the first motor and the second motor rotate in the same direction and the output torques of the first motor and the second motor are the same, the foot assembly rotates, the second leg mechanism remains stationary relative to the first leg mechanism, and so on, the nth leg mechanism remains stationary relative to the n-1th leg mechanism; When the first motor and the second motor rotate in opposite directions and the output torques of the first motor and the second motor are the same, the foot assembly does not rotate, and the second leg mechanism moves linearly in the up-down direction relative to the first leg mechanism, and so on, the nth leg mechanism moves linearly in the up-down direction relative to the n-1th leg mechanism; When the first motor and the second motor rotate in the same or opposite directions but the output torques of the first motor and the second motor are different, the second leg mechanism moves linearly in the up and down directions relative to the first leg mechanism while the foot assembly rotates, and similarly the nth leg mechanism moves linearly in the up and down directions relative to the n-1th leg mechanism.

5. The mechanical leg according to claim 1, characterized in that: The transmission wheel assembly includes a first driving wheel, a second driving wheel, at least one first transmission wheel, at least one second transmission wheel, at least one third transmission wheel, at least one fourth transmission wheel, at least one fifth transmission wheel, and a first driven wheel; The first driving wheel and the second driving wheel are connected to the first motor and the second motor output shaft respectively; The first driven wheel is rotatably connected to the nth leg mechanism and connected to the foot assembly, and the first driven wheel can drive the foot assembly to rotate when rotating; The first transmission wheel and the third transmission wheel are rotatably arranged on the first leg mechanism to the n-1th leg mechanism; The fourth transmission wheel and the fifth transmission wheel are rotatably arranged on the second leg mechanism to the n-1th leg mechanism; The first transmission wheel of the first leg mechanism is arranged between the first driving wheel and the first driven wheel; The first transmission wheel on the second leg mechanism is arranged between the fourth transmission wheel and the first driven wheel on the second leg mechanism; Similarly, the first transmission wheel on the n-1th leg mechanism is arranged between the fourth transmission wheel and the first driven wheel on the n-1th leg mechanism; The third transmission wheel of the first leg mechanism is arranged between the second driving wheel and the first driven wheel; The third transmission wheel on the second leg mechanism is arranged between the fourth transmission wheel on the second leg mechanism and the first driven wheel; Similarly, the third transmission wheel on the n-1th leg mechanism is arranged between the fifth transmission wheel and the first driven wheel on the n-1th leg mechanism; When the mechanical leg is extended to its longest length, the height of the highest point of the fourth transmission wheel on the second leg mechanism is not lower than the height of the lowest point of the first transmission wheel on the first leg mechanism and / or the height of the lowest point of the third transmission wheel on the first leg mechanism; By analogy, the highest point of the fourth transmission wheel on the n-1th leg mechanism is not lower than the lowest point height of the first transmission wheel on the n-2th leg mechanism and / or the lowest point height of the third transmission wheel on the n-2th leg mechanism; The fifth transmission wheels on the second leg mechanism to the (n-1)th leg mechanism and the fourth transmission wheel are arranged at the same height; The second transmission wheel is rotatably arranged on the nth leg mechanism, and when the mechanical leg is extended to the longest length, the height of the highest point of the second transmission wheel is not lower than the height of the lowest point of the first transmission wheel of the n-1th leg mechanism and / or the height of the lowest point of the third transmission wheel on the n-1th leg mechanism; The flexible transmission member between the first driving wheel and the first driven wheel is at least partially configured to be parallel to the up-down direction; The flexible transmission member between the second driving wheel and the first driven wheel is at least partially configured to be parallel to the up-down direction; The flexible transmission member between the fourth transmission wheel on the second leg mechanism and the first transmission wheel on the first leg mechanism is at least partially configured to be parallel to the up-down direction; Similarly, at least a portion between the fourth transmission wheel on the n-1th leg mechanism and the flexible transmission member of the first transmission wheel on the n-2th leg mechanism is configured to be parallel to the up-down direction; The flexible transmission member between the fifth transmission wheel on the second leg mechanism and the third transmission wheel on the first leg mechanism is at least partially configured to be parallel to the up-down direction; The flexible transmission member between the second transmission wheel on the nth leg mechanism and the first transmission wheel on the n-1th leg mechanism is at least partially configured to be parallel to the up-down direction; The flexible transmission member between the second transmission wheel on the nth leg mechanism and the third transmission wheel on the n-1th leg mechanism is at least partially configured to be parallel to the up-down direction; The flexible transmission member is transmission-connected with the first driving wheel, the second driving wheel, the first transmission wheel and the third transmission wheel on the first leg mechanism to the n-1th leg mechanism, the fourth transmission wheel and the fifth transmission wheel on the second leg mechanism to the n-1th leg mechanism, the second transmission wheel on the nth leg mechanism, and the first driven wheel.

6. The mechanical leg according to claim 5, characterized in that: The mechanical leg has a front-to-back direction and a left-to-right direction, and the front-to-back direction, the left-to-right direction and the up-down direction are perpendicular to each other; The first motor and the second motor are spaced apart in the front-to-rear direction, and the rotation axes of the first motor and the second motor are parallel to the left-to-right direction; The first driving wheel and the second driving wheel are arranged at intervals in the front-rear direction and at the same height; The first transmission wheel and the third transmission wheel are arranged at intervals in the front-to-back direction and have the same height; The fourth transmission wheel and the fifth transmission wheel are arranged at intervals in the front-to-back direction and have the same height.

7. The mechanical leg according to claim 6, characterized in that: The first driving wheel, the second driving wheel, the second transmission wheel, and the first driven wheel are synchronous pulleys, and the flexible transmission member is a synchronous belt, and the flexible transmission member is meshed and transmitted with the first driving wheel, the second driving wheel, the third transmission wheel, the first driven wheel, the fourth transmission wheel, and the fifth transmission wheel; The first transmission wheel and the third transmission wheel are non-toothed rotating wheels, and the non-toothed surface of the flexible transmission member is wound and connected with the first transmission wheel and the third transmission wheel.

8. The mechanical leg according to claim 7, characterized in that: The radius of the first driving wheel is consistent with that of the second driving wheel, and the radius of the first driving wheel and the second driving wheel is smaller than that of the first driven wheel.

9. A robot, characterized in that: It comprises a fuselage and a mechanical leg according to any one of claims 1 to 8, wherein the mechanical leg is rotatably connected to the fuselage.

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